Page 2 - Gripper & Experimenter’s Module; ii
Gripper & Experimenter’s Module ii Copyright 1997, ActivMedia, Inc. All rights reserved. Under international copyright laws, this manual or any portion of it may not be copied or in any way duplicated without the expressed written consent of ActivMedia, Inc. The Saphira libraries and Pioneer sof...
Page 3 - iii; Contents; Page; GRIPPER OPERATION AND PROGRAMMING
iii Pioneer Gripper & Experimenter’s Module Manual version 1.2, August 1997. Contents Page 1. INTRODUCTION 1 1.1 Gripper and Experimenter’s Package 1 1.1.1 Package Components 1 1.1.2 User Supplied Components 1 1.2 Basic Pioneer Platform 2 1.3 The Gripper & Experimenter’s Module 2 1.3.1 Gripp...
Page 4 - iv; EXPERIMENTER’S MODULE; Programming the Speaker; WARRANTY & LIABILITIES
iv 4. EXPERIMENTER’S MODULE 15 4.1 I/O Ports 15 4.1.1 Digin: Self-Test 17 4.1.2 Digout: Self-Test 17 4.2 Programming the Digital I/O Ports 18 4.3 Programming the A/D Ports 18 4.4 Programming the Speaker 18 5. MAINTENANCE & REPAIR 19 5.1 Drive Lubrication 19 5.2 Gripper Belt Adjustments 19 5.3 Fa...
Page 5 - Gripper and Experimenter’s Package
Gripper & Experimenter’s Module 1 1. Introduction ongratulations on your purchase and welcome to the rapidlygrowing community of researchers, developers, andenthusiasts of the Pioneer 1 Mobile Robot. This Pioneer 1 Gripper & Experimenter’s Module Manual provides the general and technical det...
Page 6 - Overview; Basic Pioneer Platform
Overview 2 2.2 Basic Pioneer Platform Pioneer 1 is a small, mobile robot developed by Kurt Konolige of SRI International and Grinnell More of Real World Interface, Inc., and is available exclusively throughActivMedia, Inc. The basic Pioneer 1 Mobile platform contains all of the components for sensin...
Page 9 - Additional Resources; help
Gripper & Experimenter’s Module 5 digital ports. There also is circuitry and a connector for an as-yet-implemented remote-controller IR. A complete list of available I/O ports and connections can be found in Chapter 4, Experiment’s Module. 2.4 Additional Resources Every Pioneer 1 customer gets t...
Page 11 - Turn OFF the Pioneer robot’s Main Power before installing the
Gripper & Experimenter’s Module 7 3. Installation lease read through this chapter carefully before you attempt to attach the Gripper& Experimenter’s Module to your Pioneer 1 Mobile Robot. If for any reason youdo not wish to perform the work yourself, contact RWI and make arrangements to have...
Page 12 - them by their case and store them on conductive foam. Don’t touch
Installation 8 Figure 2-1. Pioneer 1 microcontroller card 3.1.3 Step 3: Replace thePSOS EPROM Locate the EPROM/SRAM socket (Figure 2-2) on the microcontrollercard and note that the Pin 1 locatornotch on its case is towards the outeredge of the board—you’ll want tosimilarly position the new PSOSEPROM...
Page 13 - The Pioneer power cable is connected, unswitched, directly to the
Gripper & Experimenter’s Module 9 press carefully, but firmly down on the chip with your thumb or forefinger to seat ittightly in the socket. 3.1.4 Step 4 Reattach Microcontroller to Console By reversing the procedures you took in Step 2 and using the same tools and screws, reattach the Pioneer ...
Page 14 - Installation
Installation 10 3.1.8 Step 8 Re-Attach the Console Cables Carefully handling the Console top plate with attached microcontroller by its edges, reattach the various cables, front and back. Although the order is not critical, forconvenience we recommend attaching the front cables first the sonar and...
Page 15 - Gripper Operation and Programming; Gripper Self Test; Make sure the Pioneer motors are disengaged,; PSOS Server Information Packet
Gripper & Experimenter’s Module 11 4. Gripper Operation and Programming he Pioneer Gripper comes fully integrated with the robot’s systems and software.The latest versions of PSOS (4.2+) contains support for direct control of thePioneer’s onboard I/O that run the Gripper functions, as well as st...
Page 16 - Gripper Programming; sfCOMDIGOUT control of Pioneer digital output ports has been
Gripper Operation and Programming 12 4.3 Gripper I/O The Gripper’s single drive motor is controlled through two digital output lines and under control of the microcontroller CPU: Output port OD0 controls the direction ofrotation and OD1 enables/disables the motor. The act of gripping and raising obj...
Page 19 - Module
Gripper & Experimenter’s Module 15 5. Experimenter’s Module esides hosting the Gripper, the Experimenter’s Module brings several newfeatures to the Pioneer 1 Mobile Robot, and provides you with a platform foradding your own robotics options and features (Figure 4-1): 9 Easy access to Pioneer dig...
Page 20 - Experimenter’s Module
Experimenter’s Module 16 Note also that the Nose (N) 16-pin and the General (G) 26-pin I/O connectors are numbered odd pins on top and even pins on the bottom; not top, left to right, then bottomleft to right. The pinouts for the Nose connector, for example, are: 1 3 5 7 9 11 13 15 2 4 6 8 10 12 14 ...
Page 21 - bit
Gripper & Experimenter’s Module 17 5.1.1 Digin: Self-Test You may investigate the operation of the digital input and output ports through their PSOS self-test modes. After starting up your Pioneer, press the black Function button once to enable self-test mode. The LCD message should now display:...
Page 22 - Programming the Speaker
Experimenter’s Module 18 5.2 Programming the Digital I/O Ports Use the sfCOMDIGOUT PSOS command and the related Saphira convenience command to manage the various digital output ports. They are described in detail in theprevious chapter. (PAI and P-LOGO support similar commands, too.) For example, to...
Page 23 - Drive Lubrication
Gripper & Experimenter’s Module 19 6. Maintenance & Repair he Pioneer Gripper is built to last a lifetime and requires little maintenance. 6.1 Drive Lubrication An occasional drop or two of oil on the guide rails is a very good idea. Place some thin, household oil on a Q-Tip or similar appli...
Page 24 - Appendix A
20 7. Appendix A Example C Program Demonstrates Gripperand Speaker Functions /* ################################################################ * gripper.c --- Saphira-based functions for controlling the gripper and speaker *################################################################# ** Copyr...
Page 28 - Appendix B; Pioneer Server Information Packet; Name
24 8. Appendix B Pioneer Server Information Packet Name Data Type Description Header int Exactly 0xFA, 0xFB Byte Count byte Number of data bytes + 2; must be less than 201(0xC9) Status byte = 0x3S; where S = Motors status sfSTATUSNOPOWER Motors power off sfSTATUSSTOPPED Motors stopped sfSTATUSMOVING...
Page 32 - Warranty & Liabilities
28 Warranty & Liabilities Your Pioneer 1 Mobile Robot and its accessories are fully warranted against defective parts or assembly for 90 days after it is shipped to you from the factory. This warrantyexplicitly does not include damage from shipping or from abuse or inappropriateoperation, such a...
